REASEATCH ON MECHANISM KINEMATIC CHAIN ISOMORPHISM IDENTIFICATION USING

ADIACENT MATRICES

Wan Jinbao  Dong Zhurong

(Department of Mechanic and Electronic Engineering, Shenzhen Polytechnic, ShenZhen 518055)

Shen Shoufan

(Department of Mechanic, Nanjing University of Science and Technology, Nanjing 210094)

Abstract: The relationship between adjacent matrices of mechanisms and their kinematic chains is studied. The relative theory published recent is revised,after some errors in the theory being found. The necessary and sufficient conditions of the eigenvalues and eigenvectors of adjacent matrices for isom-orphic kinematic chains are proved strictly. A new procedure to identify isomorphic chains is given. A one-to-one correspondence between links of isomorphic chain can be found also with the procedure.

Key words: Adjacent matrices  Kinematic chains  Isomorphism  Identification

CLC No: TH112

Received 20030801, received in revised form 20040326